Positional Servo Systems (e.g., Servomechanisms) Patents (Class 318/560)
  • Patent number: 11507061
    Abstract: A numerically controlled machine tool has at least one movement axis and is connected to a numerical controller which includes a parts program. Movements of each movement axis are limited by maximum permissible axis dynamics. The parts program has a sequence of instructions for machining a workpiece which specify different maximum desired speeds for the machining of the workpiece which change abruptly over time. The numerical controller approximates the different maximum desired speeds which change abruptly over time with a desired speed profile that is continuous over time and has a profile of the maximum desired speeds which is also continuous over time. The numerical controller uses the continuous desired speed profile to calculate the desired values of an actual movement profile of the movements for each movement axis.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: November 22, 2022
    Assignee: Siemens Aktiengesellschaft
    Inventors: Thomas Pitz, Ralf Spielmann
  • Patent number: 11491596
    Abstract: The invention relates to an electric machine tool comprising an electric motor, a motor control unit for operating the electric motor, an input interface for entering a target specification of an operating mode of the electric motor into the motor control unit, and a motor sensor device for detecting the operating mode of the electric motor. A slave control unit is provided, which is independent from the motor control unit and communicatingly connected to the motor sensor device and the input interface and designed to compare the operating mode of the electric motor detected by the motor sensor device with the target specification entered via the input interface, and to influence the operating mode of the electric motor in case of a defined deviation of the operating mode from the target specification by means of a control device.
    Type: Grant
    Filed: November 8, 2018
    Date of Patent: November 8, 2022
    Assignee: Metabowerke GmbH
    Inventor: Frank Matheis
  • Patent number: 11484979
    Abstract: A precision tripod motion system is provided. The tripod motion system in one example includes a bottom plate including three spaced-apart bottom single-degree-of-freedom hinges, a top plate including three spaced-apart top three-degrees-of-freedom (TDOF) joints, wherein the top plate is configured to receive a workpiece. Each linear actuator of three linear actuators is coupled to an associated SDOF hinge of the bottom plate and coupled to an associated TDOF joint of the top plate. Each linear actuator is configured to change length over a linear actuation span and configured to return the top plate to a predetermined set position after the top plate is displaced by an external force Each linear actuator includes a ball coupled to the associated three TDOF joint and a positioning actuator configured to move the ball to the predetermined set position prior to the return of the top plate to the predetermined set position.
    Type: Grant
    Filed: June 26, 2017
    Date of Patent: November 1, 2022
    Assignee: ALIO INDUSTRIES, INC.
    Inventors: Nathan Lyons Brown, Clement William Hennessey, Daniel Fording Crews
  • Patent number: 11464654
    Abstract: Prosthetic devices and, more particularly, modular myoelectric prosthesis components and related methods, are described. In one embodiment, a hand for a prosthetic limb may comprise a rotor-motor; a transmission, comprising a differential roller screw; a linkage coupled to the transmission; and at least one finger coupled to the linkage. In one embodiment, a component part of a wrist of a prosthetic limb may comprise an exterior-rotor motor, a planetary gear transmission, a clutch, and a cycloid transmission. In one embodiment, an elbow for a prosthetic limb may comprise an exterior-rotor motor, and a transmission comprising a planetary gear transmission, a non-backdrivable clutch, and a screw.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: October 11, 2022
    Assignee: REHABILITATION INSTITUTE OF CHICAGO
    Inventors: James Lipsey, Jon Sensinger
  • Patent number: 11460786
    Abstract: A method for positioning a substage (9), supported by a main stage (5), relative to a reference object, the substage moveable in a direction (7) between a first and second position relative to the main stage. The method includes positioning the first stage using a passive force system that is activated by positioning the main stage. The passive force system includes two magnet systems (119, 121), each magnet system being configured to apply a force in the direction to the first stage with respect to the second stage in a non-contact manner, the forces resulting in a resultant force applied to the first stage in the direction by the passive force system. A magnitude and/or a direction of the resultant force depends on the position of the first stage relative to the second stage, and the first stage has a zero-force position between the first and second position in which the resultant force is zero.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: October 4, 2022
    Assignee: ASML Netherlands B.V.
    Inventors: Yang-Shan Huang, Petrus Theodorus Rutgers
  • Patent number: 11415948
    Abstract: An electric motor control device includes a feedforward controller, a feedback controller, and an adder-subtractor. The feedforward controller receives a position command signal to specify a target position of a control target load and outputs signals representing a target position, target speed and torque of the electric motor. The feedback controller outputs a feedback torque command signal representing a torque command to perform feedback control in such a manner that an electric motor position signal and a feedforward position command signal coincide with each other. The adder-subtractor subtracts a load acceleration feedback torque signal obtained by multiplying a load acceleration signal representing acceleration of the control target load by a load acceleration feedback gain from a torque command signal obtained by adding a feedforward torque command signal and the feedback torque command signal, and outputs a result of the subtraction as a torque command correction signal.
    Type: Grant
    Filed: June 26, 2020
    Date of Patent: August 16, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Hiroshi Fujiwara, Toru Tazawa
  • Patent number: 11385672
    Abstract: A finger pointing joystick with magnetic induction is provided. The finger pointing joystick with magnetic induction includes a main housing having a bottom case and an upper cover; a support frame having a fixed end fixedly to an end of the bottom case; a movable sphere disposed on a receiving ring; a joystick body fixed on the movable sphere; an elastic piston piece having a connecting rod inserted through a piston groove, an elastic disc fixed below the connecting rod, a return spring fixed between the movable sphere and the elastic disc, and a magnet correspondingly fixed to the elastic disk; and a magnetic induction element disposed below the magnet.
    Type: Grant
    Filed: April 10, 2020
    Date of Patent: July 12, 2022
    Inventor: Ching-Hsiung Chu
  • Patent number: 11371275
    Abstract: The disclosure provides a method for controlling a drive arrangement for a flap of a vehicle by a control arrangement, wherein in a measuring routine a measured movement value is measured by a movement measuring system. It is proposed that in an estimation routine an estimated movement value is estimated, in a movement routine the estimated movement value is determined via the estimation routine and the flap is adjusted according to a set movement value, in a correction routine the estimated movement value is determined from the estimation routine and an estimation error is determined and from the estimated movement value and according to a correction specification the set of model parameters is corrected based on the estimation error and supplied to the estimation routine and in the correction routine the correction of the set of model parameters is performed for a part section of the motorized movement cycle.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: June 28, 2022
    Assignee: Brose Fahrzeugteile GmbH SE & Co. Kommanditgesellschaft, Bamberg
    Inventors: Sebastian Schoedel, Detlef Russ
  • Patent number: 11368120
    Abstract: A digital positioner for a valve includes a valve controller configured to obtain a set point value for a valve travel of a valve, and generate a pulse-width modulated current signal based on the set point value. The digital positioner also includes a current-to-pressure converter configured to receive the pulse-width modulated current signal from the valve controller, convert the pulse-width modulated current signal to a pulse-width modulated pressure signal, and provide the pulse-width modulated pressure signal to a pneumatic actuator in the valve to adjust a position of the valve.
    Type: Grant
    Filed: May 22, 2020
    Date of Patent: June 21, 2022
    Assignee: FISHER CONTROLS INTERNATIONAL LLC
    Inventor: George W. Gassman
  • Patent number: 11353846
    Abstract: A servo amplifier selection device includes a memory configured to store specifications of each of a plurality of amplifiers capable of supplying power to a motor; and a processor configured to select, based on the number of one or more designated motors, specifications of each of the one or more designated motors, and specifications of each of the plurality of amplifiers, a combination of amplifiers connected to the one or more designated motors from the plurality of amplifiers in such a way that each of the one or more designated motors is connected to any of the plurality of amplifiers; and select, for each amplifier included in the combination of the amplifiers, specifications of a power cable that connects between the amplifier and a power source in such a way as to satisfy a supply of power needed for the motor connected to the amplifier.
    Type: Grant
    Filed: July 21, 2020
    Date of Patent: June 7, 2022
    Assignee: FANUC CORPORATION
    Inventors: Hironao Tanouchi, Koujirou Sakai
  • Patent number: 11349429
    Abstract: A shift range control device is provided for a shift range switching system that includes a motor and a plurality of detectors. The motor has a plurality of winding sets. Each of the detectors is configured to detect a physical quantity that changes in accordance with rotation of the motor. The shift range control device includes a plurality of controllers configured to control switching of a shift range by controlling drive of the motor. Each of the controllers is provided to corresponding one of the winding sets and configured to acquire detection signals from the detectors, determine, based on the detection signals, a calculation signal having a same value between the controllers, and control, based on a target shift range and the calculation signal, a current supply to the corresponding one of the winding sets.
    Type: Grant
    Filed: September 10, 2020
    Date of Patent: May 31, 2022
    Assignee: DENSO CORPORATION
    Inventor: Shigeru Kamio
  • Patent number: 11320805
    Abstract: An electric motor control device includes a position controller, a command acceleration calculator, a first subtractor, and a second subtractor. The position controller receives a position command signal specifying a target position of the load and an electric motor position signal representing a position of the electric motor that drives the load, and outputs a torque command signal. The command acceleration calculator receives the position command signal and outputs a command acceleration signal representing acceleration of the position command signal. The first subtractor subtracts the command acceleration signal from a load acceleration signal representing acceleration of the load and outputs a load acceleration correction signal. The second subtractor subtracts from the torque command signal a value obtained by multiplying the load acceleration correction signal by a predetermined weighting coefficient and outputs a torque command correction signal.
    Type: Grant
    Filed: December 19, 2018
    Date of Patent: May 3, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Hiroshi Fujiwara, Toru Tazawa
  • Patent number: 11314211
    Abstract: A method for automated optimisation of a servo control system controlled by a setpoint, the servo control system including a corrector in a feedback loop, the method exhibiting satisfactory reliability and performance in terms of stability through an iterative procedure, the most effective corrector being determined from among correctors by developing a current value of the delay margin and by individually testing the correctors on the servo control system of the real mechatronic system and by injecting an excitation signal into the loop and by assessing two effective indicators based on at least one effective static margin and one effective dynamic margin, the two effective indicators being an effective static indicator and an effective dynamic indicator, the iterative procedure being stopped on a corrector, which is then the optimal corrector, when the two effective indicators become greater than respective thresholds determined for a current delay margin value.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: April 26, 2022
    Assignee: IXBLUE
    Inventors: Bernard Vau, Lionel Minne
  • Patent number: 11315812
    Abstract: Provided is a semiconductor manufacturing apparatus, comprising: a first device; one or more sensors that detect physical quantities indicating a state of the first device; a first calculation circuit that calculates one or more feature quantities of the first device from the detected physical quantities; and a failure prediction circuit that monitors a temporal change in the one or more feature quantities calculated in the first calculation circuit, and stops receiving a new substrate when a duration for which a degree of deviation of the one or more feature quantities from those at a normal time is increasing exceeds a first time, and/or when a number of increases and decreases per unit time in the degree of deviation of the one or more feature quantities from those at the normal time exceeds a first number.
    Type: Grant
    Filed: April 4, 2018
    Date of Patent: April 26, 2022
    Assignee: EBARA CORPORATION
    Inventors: Jumpei Fujikata, Yuji Araki, Tensei Sato, Ryuya Koizumi
  • Patent number: 11312083
    Abstract: An additive manufacturing system is disclosed for use in fabricating a structure. The additive manufacturing system may include a print head, and a support configured to move the print head. The support may include a first link, a second link rotationally connected to the first link at a joint, and an encoder-less motor rigidly mounted to the first link and configured to drive rotation of the second link relative to the first link. The support may also include a sole encoder associated with the joint and configured to generate a signal indicative of an angular position of the first link relative to the second link. The additive manufacturing system may further include a controller in communication with the sole encoder and the encoder-less motor. The controller may be configured to selectively trim operation of the encoder-less motor based only on the signal.
    Type: Grant
    Filed: April 7, 2020
    Date of Patent: April 26, 2022
    Assignee: Continuous Composites Inc.
    Inventor: Nathan Andrew Stranberg
  • Patent number: 11298828
    Abstract: Disclosed is a calibration device including: a position information acquiring unit (101) for acquiring position information showing the position and the posture of control target equipment; a force information acquiring unit (102) for acquiring information about a force applied to the control target equipment from a detection result of a force sensor (5) disposed in the control target equipment; a first estimating unit (104) for estimating the force applied to the control target equipment from the acquired position information by using a physical model, to acquire estimated force information; and a second estimating unit (105) for estimating a linear or nonlinear model on the basis of the acquired position information, the acquired force information, and the acquired estimated force information.
    Type: Grant
    Filed: April 10, 2020
    Date of Patent: April 12, 2022
    Assignee: Mitsubishi Electric Corporation
    Inventors: Takashi Nammoto, Koji Shiratsuchi
  • Patent number: 11241786
    Abstract: A servo control device for controlling a motor based on a position command when an operation target is connected to the motor via a wave gear reduction mechanism may include a position control system configured to detect a shaft angular position of the motor to perform a closed-loop control based on the shaft angular position; an inverse control element having an inverse characteristic of dynamics of the position control system; and a compensation amount generation unit configured to generate a compensation amount for compensating for an angular transmission error of the wave gear reduction mechanism. The inverse control element is configured to apply compensation amount to the position control system.
    Type: Grant
    Filed: September 25, 2019
    Date of Patent: February 8, 2022
    Assignee: NIDEC SANKYO CORPORATION
    Inventors: Akihiro Ito, Shunya Yazawa
  • Patent number: 11225821
    Abstract: The present invention relates to a door operator (1) and to a method performed in a door operator system (100) comprising a door operator (1) connected to and arranged to move at least one door leaf (5) between an open and closed position, the door operator (1) comprising a control unit (3) configured to control the movement of the at least one door leaf (5), the method comprising: obtaining (S100), in a sleep mode of the door operator system (100), a sequence of input data in one or more components of the door operator (1) or the at least one door leaf (5), receiving (S110), in the control unit (3) of the door operator (1), said sequence of input data from the one or more components, and evaluating (S120) said sequence of input data and ranking (S130) the probability of that said sequence of input data corresponds to an intrusion attempt on the door operator system (100).
    Type: Grant
    Filed: June 21, 2018
    Date of Patent: January 18, 2022
    Assignee: Assa Abloy Entrance Systems AB
    Inventors: Christian Trobro, Mathias Navne
  • Patent number: 11204595
    Abstract: A control device of a machine tool includes a position controller and a model of a position-controlled axis. The position controller receives a position setpoint value, a corresponding actual position value and a compensation value; determines therefrom a resulting value; determines based on the resulting value an actuating signal; and outputs the actuating signal to the position-controlled axis. The position and/or the orientation of the tool relative to the workpiece are adjusted based on the actuating signal. A sequence of successive control errors is stored, in a storage device and read out sequentially in accordance with a sequence of the position setpoint values and supplied to the model. The model determines from the read-out control error a respective compensation value which is then supplied to the position controller, while simulating the mechanically dynamic behavior of the position-controlled axis.
    Type: Grant
    Filed: August 3, 2018
    Date of Patent: December 21, 2021
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventors: Philipp Rost, Elmar Schäfers, Jürgen Reiser
  • Patent number: 11171583
    Abstract: A motor control apparatus includes: an excitation unit configured to excite a plurality of excitation phases of each of a plurality of motors that include first to Nth motors and a control unit configured to control the excitation unit so as to perform detection excitation processing for sequentially exciting the plurality of excitation phases for each excitation cycle during each excitation period, regarding each of the first to Nth motors, and thereby detect rotor positions of the respective first to Nth motors. When detecting rotor positions of the respective first to Nth motors, the control unit delays a start timing of the detection excitation processing of at least one motor out of the first to Nth motors relative to a start timing of the detection excitation processing of another motor by a period shorter than the excitation period.
    Type: Grant
    Filed: January 15, 2020
    Date of Patent: November 9, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventors: Eijiro Ohashi, Takuya Miyashita, Yasukazu Maeda
  • Patent number: 11159118
    Abstract: An electric power steering device includes: an electric motor including multi-phase coils, which is configured to cause a steering mechanism of a vehicle to rotate; and a control unit including a plurality of inverter circuits configured to drive the electric motor, wherein the inverter circuits include capacitors for smoothing, which are small in number than phase number of the electric motor, and the capacitors are arranged between bridge circuits of respective phases of the inverter circuits.
    Type: Grant
    Filed: May 11, 2017
    Date of Patent: October 26, 2021
    Assignee: Mitsubishi Electric Corporation
    Inventors: Rei Araki, Yu Kawano, Norihiro Yamaguchi
  • Patent number: 11153544
    Abstract: Provided are a method and an apparatus for correcting a color convergence error, and a device. The method includes: controlling a projection system to project a first test pattern containing three sets of monochromatic test points and a second test pattern containing three sets of R, G, and B test points, to collect a first projection image and a second projection image on the projection screen; acquiring a first center-of-mass coordinate and a second center-of-mass coordinate corresponding to projection image points on the first projection image and the second projection image; calculating color noises corresponding to R, G, and B according to the first center-of-mass coordinate and the second center-of-mass coordinate; calculating color coordinates corresponding to the R, G, and B according to the color noises corresponding to the R, G, and B and the second center-of-mass coordinate; and adjusting an assembly parameter of the projection system.
    Type: Grant
    Filed: September 6, 2018
    Date of Patent: October 19, 2021
    Assignee: GOERTEK INC.
    Inventors: Xinxin Han, Zhiyong Zhao, Nanjing Dong, Debo Sun
  • Patent number: 11084281
    Abstract: Provided are a position detection device, a printing apparatus equipped with the position detection device and a position detection method which make it possible to set an original point on a deviation-free appropriate position with no need of highly accurate adjustment of built-in positions of a linear encoder and an original point sensor.
    Type: Grant
    Filed: February 20, 2020
    Date of Patent: August 10, 2021
    Assignee: CASIO COMPUTER CO., LTD.
    Inventor: Shinsuke Miura
  • Patent number: 11079734
    Abstract: Respective amounts of movement of feed axes corresponding to first and second position controllers are determined, and if a value obtained by dividing a smaller amount of movement by a larger amount of movement, in the two amounts of movement, falls within a prescribed reference range, a position controller for the feed axis with the smaller amount of movement selects a detected motor position as a position feedback value and a position controller for the other feed axis selects a detected object position as a position feedback value.
    Type: Grant
    Filed: March 14, 2019
    Date of Patent: August 3, 2021
    Assignee: OKUMA CORPORATION
    Inventor: Noriyuki Fukui
  • Patent number: 11068058
    Abstract: An immersive system includes a processing device. The processing device is communicated with an interface device and an electronic display in a head mounted display device. The interface device includes a haptic feedback circuit. The haptic feedback circuit is configured to induce a haptic feedback. The interface device includes a haptic feedback circuit. The haptic feedback circuit is configured to induce a haptic feedback. The processing device is configured to provide an immersive content to the electronic display. The processing device is configured to identify a simulated object corresponding to the interface device in the immersive content, and identify an interaction event occurring to the simulated object in the immersive content. The processing device is configured to determine a vibration pattern according to the interaction event and the simulated object, and control the haptic feedback circuit to induce the haptic feedback according to the vibration pattern.
    Type: Grant
    Filed: July 11, 2018
    Date of Patent: July 20, 2021
    Assignee: HTC Corporation
    Inventor: Sheng-Yang Pan
  • Patent number: 11038443
    Abstract: A motor control system includes a motor, and a motor control apparatus including first processing circuitry that, based on a driving state quantity of the motor, controls driving power supplied to the motor, safety request input receiving circuitry through which a safety request signal is input from outside the motor control apparatus, safety cooperation input receiving circuitry through which a safety cooperation signal is input from outside the motor control apparatus, safety cooperation output circuitry through which the motor control apparatus outputs the safety cooperation signal to outside the motor control apparatus, and second processing circuitry that, upon input of at least one signal among the safety request signal and the safety cooperation signal, monitors a relationship between a predetermined motion monitor pattern and the driving state quantity and outputs the safety cooperation signal.
    Type: Grant
    Filed: September 16, 2019
    Date of Patent: June 15, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Kunimasa Ando
  • Patent number: 11023827
    Abstract: A machine learning device performs machine learning with respect to a servo control device including at least two feedforward calculation units among a position feedforward calculation unit configured to calculate a position feedforward term on the basis of a position command, a velocity feedforward calculation unit configured to calculate a velocity feedforward term on the basis of a position command, and a current feedforward calculation unit configured to calculate a current feedforward term on the basis of a position command. Machine learning related to the coefficients of a transfer function of one feedforward calculation unit among the at least two feedforward calculation units is performed earlier than machine learning related to the coefficients of a transfer function of the other feedforward calculation unit.
    Type: Grant
    Filed: February 11, 2019
    Date of Patent: June 1, 2021
    Assignee: FANUC CORPORATION
    Inventors: Ryoutarou Tsuneki, Satoshi Ikai
  • Patent number: 11018557
    Abstract: An speed detection apparatus of a rotational shaft in a robot arm that is applied to a drive mechanism is provided. The speed detection apparatus includes: first and second rotation sensors that are disposed on a side of a rotational shaft of the robot arm and outputs first and second rotational position signals with a phase difference of 90 degrees; first and second differentiators that differentiate the first and second rotational position signals; and a speed calculator that obtains a rotational speed of the robot arm by calculating a sum of squares of a first differential signal and a second differential signal.
    Type: Grant
    Filed: January 23, 2019
    Date of Patent: May 25, 2021
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Kenji Nagamatsu
  • Patent number: 11009851
    Abstract: A drive controller comprises an evaluation unit to receive and evaluate a first item of feedback information from a motor connected to the drive controller, a control-signal block connected to secure inputs of the drive controller to receive condition control signals and to provide the condition control signals as input signals, a drive-signal block connected to the evaluation unit to calculate a first speed and/or a first position on the basis of the first item of feedback information on at least a first channel and to provide a first speed signal and/or a first position signal, a programmable logic unit connected to the control-signal block and the drive-signal block to realize the safety functions and the speed signal and/or the position signal to provide switch-off signals, and an output unit connected to the logic unit and to secure outputs of the drive controller to output switch-off signals on safety-switch-off paths.
    Type: Grant
    Filed: May 9, 2019
    Date of Patent: May 18, 2021
    Assignee: Beckhoff Automation GmbH
    Inventors: Robert Zutz, Oliver Ellerbrock, Holger Buettner
  • Patent number: 10994385
    Abstract: A vibration state detection device includes an imaging device configured to image at least one driven element to be driven by a drive unit of a machine tool; and a vibration state analysis unit configured to calculate a parameter corresponding to vibration of the driven element, based on image data for each predetermined period of elapsed time acquired by the imaging device. The parameter includes at least a vibration frequency and a machine tool including the vibration state detection device. Accordingly, it is possible to reliably obtain a parameter corresponding to vibration caused by cutting, even if cutting oil, chips, or the like adheres to a tool of a machine tool, and it is possible to suppress vibration caused by cutting.
    Type: Grant
    Filed: August 16, 2017
    Date of Patent: May 4, 2021
    Assignee: DMG MORI Co., Ltd.
    Inventors: Yasutaka Kato, Hisayoshi Morita
  • Patent number: 10998934
    Abstract: An image reading apparatus includes an image reader, an image controller, and an FFC configured to connect the image controller and the image reader to each other. The FFC includes a first signal line, a second signal line, and a third signal line. The image reader includes a loop back portion configured to return a signal transmitted from the image controller through the first signal line back to the image controller through the second signal line. The third signal line forms a feedback portion configured to return a signal output from the image controller back to the image controller before the signal is received by the image reader. The image controller is configured to detect an abnormality in a cable, the image reader, and the image controller based on diagnosis results obtained with use of the loop back portion and the feedback portion.
    Type: Grant
    Filed: January 10, 2020
    Date of Patent: May 4, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Satoshi Yoshida
  • Patent number: 10971987
    Abstract: A method for open-loop and/or closed-loop control of a linear drive, a linear drive; and a system, wherein the linear drive includes at least one segment, at least one rotor, at least one machine station and a control device, where the at least one rotor is moved in a direction via the at least one segment, at least a portion of at least one segment is within a region accessible by the machine station, the movement of the at least one rotor is controlled in an open-loop and/or closed-loop manner by the control device and/or control unit, the controlling occurs in accordance with a movement pattern for the rotor, and where the movement of a particular rotor in the region accessible by the associated machine station is specified by a movement profile in accordance with the mode of operation of the associated machine station.
    Type: Grant
    Filed: November 15, 2016
    Date of Patent: April 6, 2021
    Assignee: Siemens Aktiengesellschaft
    Inventors: Michael Jaentsch, Maximilian Klaus, Gerhard Rastaetter, Robin Sailer, Carsten Spindler, Csilla Szathmary
  • Patent number: 10955084
    Abstract: A positioning table device with six or fewer degrees of freedom and redundancy. Four modular legs extend from a base to a table. Each leg has three joints. In one embodiment, the bottom joint is planar and active, the middle joint is prismatic and passive, and the top joint is spherical and passive. In another embodiment, fewer than six degrees of freedom is achieved by reducing the number of degrees of freedom of selected joints. In another embodiment, the middle joint is active, and the bottom and top joints are passive.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: March 23, 2021
    Assignee: Huber Diffraktionstechnik GmbH & Co. KG
    Inventor: Gheorghe Olea
  • Patent number: 10951153
    Abstract: An apparatus for controlling an inverter driving a motor is provided. The apparatus includes a current controller that generates a voltage instruction for causing a current detection value, obtained by measuring a current provided from an inverter to a motor, to correspond to a current instruction for driving the motor. A voltage modulator generates a pulse width modulation signal for controlling on/off states of switching devices in the inverter at a predetermined switching frequency based on the voltage instruction. A frequency determiner determines the switching frequency based on driving information of the motor, determines a plurality of synchronization frequencies based on a speed of the motor, and randomly selects and determines one of the plurality of synchronization frequencies as the switching frequency.
    Type: Grant
    Filed: October 16, 2019
    Date of Patent: March 16, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Yong Jae Lee, Joo Young Park, Jae Ho Hwang, Mu Shin Kwak, Su Hyun Bae
  • Patent number: 10942505
    Abstract: A data processing and transmission system (1) for a numerical control unit (2) adapted to control a machine tool (3), comprises at least one input channel (4) adapted to a transit of operational signals from or to devices present in the machine tool, electronic circuits configured to process the operational signals to make available on an output interface (5) control signals for the numerical control unit, a multipolar cable (8) having a first and a second end, each provided with a multipolar connector (9), a master unit having the output interface, a main processor, a memory and at least one socket (7A) configured to be coupled to one of the multipolar connectors, one or more slave units (6), each provided with at least one external port (6A) defining the input channel, a memory, a secondary processor, and provided also with a first socket (6B) and a second socket (6C), configured to be coupled at least to a first or a second connector of the multipolar connectors in order to interconnect the slave unit at l
    Type: Grant
    Filed: August 31, 2016
    Date of Patent: March 9, 2021
    Assignee: Marposs Societa' Per Azioni
    Inventors: Antonio De Renzis, Fabio Goretti, Luigi Testoni
  • Patent number: 10916108
    Abstract: Braking torque based on a friction force is increased in a pulse state in a transition area in which control torque changes from a direction to encourage the rotation of a manipulation member to a direction to suppress the rotation. This braking torque based on a friction force does not cause vibration unlike the driving torque of an electric motor even if the braking torque is steeply increased. Therefore, when the rotational angle passes through the transition area, a clearer click feeling can be generated without a change like vibration being caused in control torque. When the manipulation member is rotated fast, the braking torque in a pulse state is likely to be felt as vibration.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: February 9, 2021
    Assignee: ALPS ALPINE CO., LTD.
    Inventor: Hiroshi Wakuda
  • Patent number: 10879819
    Abstract: An error detector generates a position error value ERR that corresponds to a difference between a position instruction value P_REF indicative of a target position of a rotor based on a clock signal CLK and a position detection value P_FB indicative of the current position of the rotor based on pulse signals EN_A and EN_B received from an encoder. A feedback controller generates a torque instruction value T_REF such that a position error value ERR approaches zero. The driving IC is capable of switching modes between a rotational driving control mode and a holding mode. Control characteristics set for the feedback controller are switched according to switching between the rotational driving control mode and the holding mode.
    Type: Grant
    Filed: October 31, 2018
    Date of Patent: December 29, 2020
    Assignee: ROHM CO., LTD.
    Inventors: Hiroki Hashimoto, Masanori Tsuchihashi
  • Patent number: 10867501
    Abstract: A housing can be wearable by a user. At least one microphone in or on the housing can sense ambient audio and produce at least one time-domain audio signal. The housing can be passive, such that the sensed ambient audio does not include any sound emitted from the housing. A transformation circuit can transform the at least one time-domain audio signal to form at least one frequency-domain audio signal. An identification circuit can identify a spectral feature in the at least one frequency-domain audio signal. A tracking circuit can track a time evolution of the spectral feature. A determination circuit can determine from the tracked time evolution of the spectral feature that the spectral feature corresponds to an object moving toward the housing. An alert circuit can alert the user, in response to the determination circuit determining that the object is moving toward the housing.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: December 15, 2020
    Assignee: Ibiquity Digital Corporation
    Inventor: Marek Milbar
  • Patent number: 10855213
    Abstract: A motor driver device includes: a detector that detects a polarity inversion timing of a current flowing through a coil of a predetermined phase of a motor; a drive control signal generator that generates a pulse-width-modulated or pulse-density-modulated drive control signal for each phase based on the detection result; and a drive voltage supply that supplies a drive voltage corresponding to the drive control signal to a corresponding coil, wherein the drive control signal generator includes a prediction processor configured to set a detection prediction interval based on two or more previously detected polarity inversion timings, and executes a frequency variable control to set a variable target frequency to be higher in the detection prediction interval than outside the detection prediction interval, the variable target frequency being a frequency of the pulse-width-modulated drive control signal or a reciprocal of a minimum pulse width of the pulse-density-modulated drive control signal.
    Type: Grant
    Filed: August 12, 2019
    Date of Patent: December 1, 2020
    Assignee: Rohm Co., Ltd.
    Inventor: Hisashi Sugie
  • Patent number: 10821934
    Abstract: Present systems and methods are directed to an audio system integrated into a restraint system for an amusement park ride vehicle. Specifically, a system includes a restraining system for a ride vehicle of an amusement park. The system includes an audio system comprising a speaker and a microphone, wherein the audio system is positioned inside of the restraining system and configured to produce audio via the speaker in response to a received audio activation signal.
    Type: Grant
    Filed: October 24, 2017
    Date of Patent: November 3, 2020
    Assignee: Universal City Studios LLC
    Inventors: Gregory S. Hall, Keith Michael McVeen, Brian Birney McQuillian
  • Patent number: 10809694
    Abstract: The present invention is provided with: a servo motor; a servo driver which supplies a driving current to the servo motor and drives the servo motor; and an information processing device which transmits, to the servo driver, an operation command signal of the servo motor, wherein a movement range limiting device is further provided, which executes, on the basis of the operation command signal from the information processing device, automatic tuning that adjusts a gain in a servo motor control, and which prevents, in the automatic tuning, the servo motor from moving beyond a permissible range by returning the position of the servo motor to a prescribed start position.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: October 20, 2020
    Assignee: OMRON Corporation
    Inventors: Fumiaki Sato, Daisuke Tamashima
  • Patent number: 10702932
    Abstract: To provide a power tool configured to stably rotate an end tool. The provided power tool includes a brushless motor including a rotor configured to rotate; a rectifier circuit configured to rectify an AC voltage; a smoothing capacitor configured to smooth the AC voltage rectified by the rectifier circuit to a pulsating voltage; an inverter circuit configured to perform switching operations to output the pulsating voltage to the brushless motor; a deceleration mechanism including: a driving portion at a rotor side, a driven portion configured to transmit a rotating force to an end tool side, and an elastic member configured to transmit a rotational force of the driving portion to the driven portion, the deceleration mechanism configured to decelerate a speed of a rotation of the rotor and configured to transmit the rotation to an end tool.
    Type: Grant
    Filed: February 26, 2016
    Date of Patent: July 7, 2020
    Assignee: Koki Holdings Co., Ltd.
    Inventors: Takeru Kumakura, Shinji Kuragano
  • Patent number: 10637719
    Abstract: The present disclosure relates to a bus exception handling method of a robot including a main controller and a plurality of execution nodes electronically coupled to a bus of the robot. The main controller receives status information of an execution node of the robot from the execution node, determines whether the execution node is in an abnormal status based on the status information of the execution node. In response to determining the execution node is in the abnormal status, the main controller determines a degree of abnormity of the execution node, determines an operating instruction corresponding to the degree of abnormity, and sends the operating instruction to the execution node, the execution node executing the operating instruction. The present disclosure further provides a bus exception handling device.
    Type: Grant
    Filed: September 4, 2017
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Hailang Zhou, Musen Zhang
  • Patent number: 10632615
    Abstract: The present disclosure provides a servo driving method, device, and robot thereof. The method includes: obtaining a current voltage of a power supply of the motor, if a control instruction for driving the servo is detected; obtaining a duty ratio of a PWM signal generated according to the control instruction and the current voltage, if the current voltage is not equal to a preset voltage; calculating a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio; and outputting a target PWM signal according to the target duty ratio. Which controls the motor to drive the servo through the obtained target PWM signal, and realizes that the rotation speed of the motor will not become unstable due to the change of the output voltage of the power supply during the operation of the motor, thereby avoiding the instability of the servo.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: April 28, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Dong Liu, Zhenmin Mo, Zhongliang Wang
  • Patent number: 10635089
    Abstract: A servo control device controls a combined position of a first servo system and a second servo system having higher response than response of the first servo system. The servo control device includes a first axis target value creation unit and a correction unit. The first axis target value creation unit creates a first axis target value based on a combined command value which is a position command value of the combined position. The correction unit converts the first axis target value into a first axis command value by using a first transfer function. In addition, the correction unit converts the first axis target value by using a second transfer function, and calculates a second axis command value by subtracting the converted first axis target value from the combined command value.
    Type: Grant
    Filed: February 15, 2017
    Date of Patent: April 28, 2020
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kenta Fujii, Hidetoshi Ikeda, Teruaki Fukuoka
  • Patent number: 10627807
    Abstract: A controller of a motor that drives a driven body, the controller includes: a command generating unit that generates a movement command for the motor; an inertia estimating unit that acquires feedback information of the motor and estimates an inertia on the basis of a predetermined estimation equation; a difference computing unit that computes a change in the inertia changed with machining based on the movement command of the command generating unit; and a comparing unit that compares a difference between the estimation results before and after the machining of the driven body estimated by the inertia estimating unit and the change in the inertia computed by the difference computing unit. the estimation equation of the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the estimation results matches a computation result obtained by the difference computing unit.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: April 21, 2020
    Assignee: FANUC CORPORATION
    Inventors: Kazunori Iijima, Yuusaku Oho
  • Patent number: 10603234
    Abstract: A patient support apparatus includes a frame, wheels, a patient support surface, a motor, a power assist control, a sensor, and a controller. The power assist control detects a force applied to it. The sensor detects an angular orientation of the patient support apparatus with respect to a generally horizontal plane. The controller drives the motor at different levels for a particular force applied to the power assist control depending upon the angular orientation sensed by the sensor. The controller may control the motors such that the patient support apparatus accelerates at substantially the same rate, regardless of the angle of the patient support apparatus. The controller may also limit the driving of the motor to less than a maximum value based upon the angular orientation of the patient support apparatus.
    Type: Grant
    Filed: March 28, 2017
    Date of Patent: March 31, 2020
    Assignee: Stryker Corporation
    Inventors: Thomas Alan Puvogel, Joshua A. Mansfield
  • Patent number: 10591889
    Abstract: The present invention provides a configuration which enables an improvement in the workability of wiring of a sensor in a servo system. An encoder detects the operation of a motor driven by a servo driver, and generates a feedback signal indicating the detected operation. Further, the encoder receives detected signals output from sensors for detecting an object driven by the motor via sensor cables. The encoder outputs the feedback signal and the input detected signals to the outside.
    Type: Grant
    Filed: November 14, 2014
    Date of Patent: March 17, 2020
    Assignee: OMRON Corporation
    Inventor: Takeshi Kiribuchi
  • Patent number: 10579043
    Abstract: To highly accurately predict remaining machining time required for cutting, a controller of a machining time prediction device includes a storage in which a machining program is stored, a simulator that performs a simulation in which a cutting machine cuts a workpiece in accordance with the machining program to generate a control pattern in which control information of a spindle and a holder is recorded, a machining time calculator that generates, based on the control pattern, a machining time table in which remaining machining time for each step of the machining program, a machining time acquirer that acquires a step of the machining program cutting of which is performed by the cutting machine at a current time point and acquires the remaining machining time for the step of the machining program, which has been acquired, from the machining time table, and a display controller that displays the remaining machining time that has been acquired by the machining time acquirer on a display screen.
    Type: Grant
    Filed: March 16, 2017
    Date of Patent: March 3, 2020
    Assignee: Roland DG Corporation
    Inventor: Tetsuya Kanja
  • Patent number: 10571921
    Abstract: According to some embodiments, a system segments a first path trajectory selected from an initial location of the ADV into a number of path segments, where each path segment is represented by a polynomial function. The system selects an objective function in view of the polynomial functions of the path segments for smoothing connections between the path segments. The system defines a set of constraints to the polynomial functions based on adjacent path segments in view of at least a road boundary and an obstacle perceived by the ADV. The system performs a quadratic programming (QP) optimization on the objective function in view of the added constraints, such that an output of the objective function reaches a minimum. The system generates a second path trajectory representing a path trajectory with an optimized objective function based on the QP optimization to control the ADV autonomously.
    Type: Grant
    Filed: September 18, 2017
    Date of Patent: February 25, 2020
    Assignee: BAIDU USA LLC
    Inventors: Haoyang Fan, Liangliang Zhang, Yajia Zhang, Weicheng Zhu, Yifei Jiang, Qi Luo, Jiangtao Hu, Qi Kong